Optimal performance trade-offs in repetitive control: experimental validation on an active air bearing setup

Authors:
Goele Pipeleers;Bram Demeulenaere;Farid Al-Bender;Joris De Schutter;Jan Swevers
Affiliations:
Katholieke Unviversiteit Leuven, Dept. of Mechanical Engineering, Heverlee, Belgium;Katholieke Unviversiteit Leuven, Dept. of Mechanical Engineering, Heverlee, Belgium;Katholieke Unviversiteit Leuven, Dept. of Mechanical Engineering, Heverlee, Belgium;Katholieke Unviversiteit Leuven, Dept. of Mechanical Engineering, Heverlee, Belgium;Katholieke Unviversiteit Leuven, Dept. of Mechanical Engineering, Heverlee, Belgium
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 2
Cited 0

Brief paper: Design of noise and period-time robust high-order repetitive control, with application to optical storage

Automatica (Journal of IFAC)
Brief Repetitive control for systems with uncertain period-time

Automatica (Journal of IFAC)

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Abstract

In repetitive control, the Bode Sensitivity Integral dictates a fundamental trade-off between improved suppression of periodic disturbances and degraded performance for nonperiodic inputs. This paper experimentally demonstrates the implications of this trade-off by applying a recently developed systematic repetitive control design approach to an active air bearing setup. This design methodology translates the fundamental trade-off into trade-off curves between a nonperiodic and periodic performance index, of which the practical relevance is illustrated by the obtained experimental results.